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CAN.h@5:b53e5ee15315, 2015-08-04 (annotated)
- Committer:
- hudakz
- Date:
- Tue Aug 04 11:58:09 2015 +0000
- Revision:
- 5:b53e5ee15315
- Parent:
- 4:38403b42718b
- Child:
- 6:c5a40d5fd9f1
updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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hudakz | 0:e29bc8e0dddd | 1 | /* mbed Microcontroller Library |
hudakz | 0:e29bc8e0dddd | 2 | * Copyright (c) 2006-2013 ARM Limited |
hudakz | 0:e29bc8e0dddd | 3 | * |
hudakz | 0:e29bc8e0dddd | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
hudakz | 0:e29bc8e0dddd | 5 | * you may not use this file except in compliance with the License. |
hudakz | 0:e29bc8e0dddd | 6 | * You may obtain a copy of the License at |
hudakz | 0:e29bc8e0dddd | 7 | * |
hudakz | 0:e29bc8e0dddd | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
hudakz | 0:e29bc8e0dddd | 9 | * |
hudakz | 0:e29bc8e0dddd | 10 | * Unless required by applicable law or agreed to in writing, software |
hudakz | 0:e29bc8e0dddd | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
hudakz | 0:e29bc8e0dddd | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
hudakz | 0:e29bc8e0dddd | 13 | * See the License for the specific language governing permissions and |
hudakz | 0:e29bc8e0dddd | 14 | * limitations under the License. |
hudakz | 0:e29bc8e0dddd | 15 | * |
hudakz | 0:e29bc8e0dddd | 16 | * Modified by Zoltan Hudak <hudakz@inbox.com> |
hudakz | 0:e29bc8e0dddd | 17 | * |
hudakz | 0:e29bc8e0dddd | 18 | */ |
hudakz | 0:e29bc8e0dddd | 19 | #ifndef CAN_H |
hudakz | 0:e29bc8e0dddd | 20 | #define CAN_H |
hudakz | 0:e29bc8e0dddd | 21 | |
hudakz | 0:e29bc8e0dddd | 22 | #include "platform.h" |
hudakz | 0:e29bc8e0dddd | 23 | |
hudakz | 0:e29bc8e0dddd | 24 | #define DEVICE_CAN 1 |
hudakz | 0:e29bc8e0dddd | 25 | |
hudakz | 0:e29bc8e0dddd | 26 | #if DEVICE_CAN |
hudakz | 0:e29bc8e0dddd | 27 | |
hudakz | 0:e29bc8e0dddd | 28 | #include "can_api.h" |
hudakz | 0:e29bc8e0dddd | 29 | #include "can_helper.h" |
hudakz | 0:e29bc8e0dddd | 30 | #include "FunctionPointer.h" |
hudakz | 0:e29bc8e0dddd | 31 | |
hudakz | 0:e29bc8e0dddd | 32 | namespace mbed |
hudakz | 0:e29bc8e0dddd | 33 | { |
hudakz | 0:e29bc8e0dddd | 34 | |
hudakz | 0:e29bc8e0dddd | 35 | /** CANMessage class |
hudakz | 0:e29bc8e0dddd | 36 | */ |
hudakz | 0:e29bc8e0dddd | 37 | class CANMessage : public CAN_Message |
hudakz | 0:e29bc8e0dddd | 38 | { |
hudakz | 0:e29bc8e0dddd | 39 | |
hudakz | 0:e29bc8e0dddd | 40 | public: |
hudakz | 0:e29bc8e0dddd | 41 | /** Creates empty CAN message. |
hudakz | 0:e29bc8e0dddd | 42 | */ |
hudakz | 0:e29bc8e0dddd | 43 | CANMessage() : CAN_Message() { |
hudakz | 0:e29bc8e0dddd | 44 | len = 8; |
hudakz | 0:e29bc8e0dddd | 45 | type = CANData; |
hudakz | 0:e29bc8e0dddd | 46 | format = CANStandard; |
hudakz | 0:e29bc8e0dddd | 47 | id = 0; |
hudakz | 0:e29bc8e0dddd | 48 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 49 | } |
hudakz | 0:e29bc8e0dddd | 50 | |
hudakz | 0:e29bc8e0dddd | 51 | /** Creates CAN message with specific content. |
hudakz | 0:e29bc8e0dddd | 52 | */ |
hudakz | 0:e29bc8e0dddd | 53 | CANMessage(int _id, const char *_data, char _len = 8, CANType _type = CANData, CANFormat _format = CANStandard) { |
hudakz | 0:e29bc8e0dddd | 54 | len = _len & 0xF; |
hudakz | 0:e29bc8e0dddd | 55 | type = _type; |
hudakz | 0:e29bc8e0dddd | 56 | format = _format; |
hudakz | 0:e29bc8e0dddd | 57 | id = _id; |
hudakz | 0:e29bc8e0dddd | 58 | memcpy(data, _data, _len); |
hudakz | 0:e29bc8e0dddd | 59 | } |
hudakz | 0:e29bc8e0dddd | 60 | |
hudakz | 0:e29bc8e0dddd | 61 | /** Creates CAN remote message. |
hudakz | 0:e29bc8e0dddd | 62 | */ |
hudakz | 0:e29bc8e0dddd | 63 | CANMessage(int _id, CANFormat _format = CANStandard) { |
hudakz | 0:e29bc8e0dddd | 64 | len = 0; |
hudakz | 0:e29bc8e0dddd | 65 | type = CANRemote; |
hudakz | 0:e29bc8e0dddd | 66 | format = _format; |
hudakz | 0:e29bc8e0dddd | 67 | id = _id; |
hudakz | 0:e29bc8e0dddd | 68 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 69 | } |
hudakz | 0:e29bc8e0dddd | 70 | |
hudakz | 0:e29bc8e0dddd | 71 | /*********************************************************************/ |
hudakz | 0:e29bc8e0dddd | 72 | /*********************************************************************/ |
hudakz | 0:e29bc8e0dddd | 73 | /*********************************************************************/ |
hudakz | 4:38403b42718b | 74 | /** Copy constructor. |
hudakz | 4:38403b42718b | 75 | */ |
hudakz | 4:38403b42718b | 76 | CANMessage(const CANMessage& canMessage) { |
hudakz | 4:38403b42718b | 77 | len = canMessage.len; |
hudakz | 4:38403b42718b | 78 | type = canMessage.type; |
hudakz | 4:38403b42718b | 79 | format = canMessage.format; |
hudakz | 4:38403b42718b | 80 | id = canMessage.id; |
hudakz | 4:38403b42718b | 81 | memcpy(data, canMessage.data, canMessage.len); |
hudakz | 4:38403b42718b | 82 | } |
hudakz | 4:38403b42718b | 83 | |
hudakz | 0:e29bc8e0dddd | 84 | /** Clears CAN message content |
hudakz | 0:e29bc8e0dddd | 85 | */ |
hudakz | 0:e29bc8e0dddd | 86 | void clear(void) { |
hudakz | 0:e29bc8e0dddd | 87 | len = 0; |
hudakz | 0:e29bc8e0dddd | 88 | type = CANData; |
hudakz | 0:e29bc8e0dddd | 89 | format = CANStandard; |
hudakz | 0:e29bc8e0dddd | 90 | id = 0; |
hudakz | 0:e29bc8e0dddd | 91 | memset(data, 0, 8); |
hudakz | 0:e29bc8e0dddd | 92 | }; |
hudakz | 0:e29bc8e0dddd | 93 | |
hudakz | 0:e29bc8e0dddd | 94 | /** Inserter operator: Appends data (value) to CAN message |
hudakz | 0:e29bc8e0dddd | 95 | */ |
hudakz | 0:e29bc8e0dddd | 96 | template<class T> |
hudakz | 0:e29bc8e0dddd | 97 | CANMessage &operator<<(const T val) { |
hudakz | 0:e29bc8e0dddd | 98 | if(len + sizeof(T) <= 8) { |
hudakz | 0:e29bc8e0dddd | 99 | *reinterpret_cast < T * > (&data[len]) = val; |
hudakz | 0:e29bc8e0dddd | 100 | len += sizeof(T); |
hudakz | 0:e29bc8e0dddd | 101 | } |
hudakz | 0:e29bc8e0dddd | 102 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 103 | else { |
hudakz | 0:e29bc8e0dddd | 104 | printf("Error: Cannot append data because it exceeds CAN data length!\r\n"); |
hudakz | 0:e29bc8e0dddd | 105 | } |
hudakz | 0:e29bc8e0dddd | 106 | #endif |
hudakz | 0:e29bc8e0dddd | 107 | return *this; |
hudakz | 0:e29bc8e0dddd | 108 | } |
hudakz | 0:e29bc8e0dddd | 109 | |
hudakz | 0:e29bc8e0dddd | 110 | /** Extractor operator: Extracts data (value) from CAN message |
hudakz | 0:e29bc8e0dddd | 111 | */ |
hudakz | 0:e29bc8e0dddd | 112 | template<class T> |
hudakz | 0:e29bc8e0dddd | 113 | CANMessage &operator>>(T& val) { |
hudakz | 0:e29bc8e0dddd | 114 | if(sizeof(T) <= len) { |
hudakz | 0:e29bc8e0dddd | 115 | val = *reinterpret_cast < T * > (&data[0]); |
hudakz | 0:e29bc8e0dddd | 116 | len -= sizeof(T); |
hudakz | 0:e29bc8e0dddd | 117 | memcpy(data, data + sizeof(T), len); |
hudakz | 0:e29bc8e0dddd | 118 | } |
hudakz | 0:e29bc8e0dddd | 119 | #if DEBUG |
hudakz | 0:e29bc8e0dddd | 120 | else { |
hudakz | 0:e29bc8e0dddd | 121 | printf("Error: Cannot extract data because it exceeds CAN data length!\r\n"); |
hudakz | 0:e29bc8e0dddd | 122 | } |
hudakz | 0:e29bc8e0dddd | 123 | #endif |
hudakz | 0:e29bc8e0dddd | 124 | return *this; |
hudakz | 0:e29bc8e0dddd | 125 | } |
hudakz | 0:e29bc8e0dddd | 126 | |
hudakz | 0:e29bc8e0dddd | 127 | }; |
hudakz | 0:e29bc8e0dddd | 128 | |
hudakz | 0:e29bc8e0dddd | 129 | /** A can bus client, used for communicating with can devices |
hudakz | 0:e29bc8e0dddd | 130 | */ |
hudakz | 0:e29bc8e0dddd | 131 | class CAN |
hudakz | 0:e29bc8e0dddd | 132 | { |
hudakz | 0:e29bc8e0dddd | 133 | |
hudakz | 0:e29bc8e0dddd | 134 | public: |
hudakz | 0:e29bc8e0dddd | 135 | /** Creates an CAN interface connected to specific pins. |
hudakz | 0:e29bc8e0dddd | 136 | * |
hudakz | 0:e29bc8e0dddd | 137 | * @param rd read from transmitter |
hudakz | 0:e29bc8e0dddd | 138 | * @param td transmit to transmitter |
hudakz | 0:e29bc8e0dddd | 139 | * |
hudakz | 0:e29bc8e0dddd | 140 | * Example: |
hudakz | 0:e29bc8e0dddd | 141 | * @code |
hudakz | 0:e29bc8e0dddd | 142 | * #include "mbed.h" |
hudakz | 0:e29bc8e0dddd | 143 | * #include "CAN.h" |
hudakz | 0:e29bc8e0dddd | 144 | * |
hudakz | 0:e29bc8e0dddd | 145 | * Ticker ticker; |
hudakz | 0:e29bc8e0dddd | 146 | * DigitalOut led1(LED1); |
hudakz | 0:e29bc8e0dddd | 147 | * CAN can(PA_11, PA_12); |
hudakz | 0:e29bc8e0dddd | 148 | * |
hudakz | 0:e29bc8e0dddd | 149 | * char counter = 0; |
hudakz | 0:e29bc8e0dddd | 150 | * |
hudakz | 0:e29bc8e0dddd | 151 | * void send() { |
hudakz | 0:e29bc8e0dddd | 152 | * if(can.write(CANMessage(1337, &counter, 1))) { |
hudakz | 0:e29bc8e0dddd | 153 | * printf("Message sent: %d\n", counter); |
hudakz | 0:e29bc8e0dddd | 154 | * counter++; |
hudakz | 0:e29bc8e0dddd | 155 | * } |
hudakz | 0:e29bc8e0dddd | 156 | * led1 = !led1; |
hudakz | 0:e29bc8e0dddd | 157 | * } |
hudakz | 0:e29bc8e0dddd | 158 | * |
hudakz | 0:e29bc8e0dddd | 159 | * int main() { |
hudakz | 0:e29bc8e0dddd | 160 | * ticker.attach(&send, 1); |
hudakz | 0:e29bc8e0dddd | 161 | * CANMessage msg; |
hudakz | 0:e29bc8e0dddd | 162 | * while(1) { |
hudakz | 0:e29bc8e0dddd | 163 | * if(can.read(msg)) { |
hudakz | 0:e29bc8e0dddd | 164 | * printf("Message received: %d\n\n", msg.data[0]); |
hudakz | 0:e29bc8e0dddd | 165 | * led1 = !led1; |
hudakz | 0:e29bc8e0dddd | 166 | * } |
hudakz | 0:e29bc8e0dddd | 167 | * wait(0.2); |
hudakz | 0:e29bc8e0dddd | 168 | * } |
hudakz | 0:e29bc8e0dddd | 169 | * } |
hudakz | 0:e29bc8e0dddd | 170 | * @endcode |
hudakz | 0:e29bc8e0dddd | 171 | */ |
hudakz | 0:e29bc8e0dddd | 172 | CAN(PinName rd, PinName td); |
hudakz | 0:e29bc8e0dddd | 173 | virtual ~CAN(); |
hudakz | 0:e29bc8e0dddd | 174 | |
hudakz | 0:e29bc8e0dddd | 175 | /** Set the frequency of the CAN interface |
hudakz | 0:e29bc8e0dddd | 176 | * |
hudakz | 0:e29bc8e0dddd | 177 | * @param hz The bus frequency in hertz |
hudakz | 0:e29bc8e0dddd | 178 | * |
hudakz | 0:e29bc8e0dddd | 179 | * @returns |
hudakz | 0:e29bc8e0dddd | 180 | * 1 if successful, |
hudakz | 0:e29bc8e0dddd | 181 | * 0 otherwise |
hudakz | 0:e29bc8e0dddd | 182 | */ |
hudakz | 0:e29bc8e0dddd | 183 | int frequency(int hz); |
hudakz | 0:e29bc8e0dddd | 184 | |
hudakz | 0:e29bc8e0dddd | 185 | /** Write a CANMessage to the bus. |
hudakz | 0:e29bc8e0dddd | 186 | * |
hudakz | 0:e29bc8e0dddd | 187 | * @param msg The CANMessage to write. |
hudakz | 0:e29bc8e0dddd | 188 | * |
hudakz | 0:e29bc8e0dddd | 189 | * @returns |
hudakz | 0:e29bc8e0dddd | 190 | * 0 if write failed, |
hudakz | 0:e29bc8e0dddd | 191 | * 1 if write was successful |
hudakz | 0:e29bc8e0dddd | 192 | */ |
hudakz | 0:e29bc8e0dddd | 193 | int write(CANMessage msg); |
hudakz | 0:e29bc8e0dddd | 194 | |
hudakz | 0:e29bc8e0dddd | 195 | /** Read a CANMessage from the bus. |
hudakz | 0:e29bc8e0dddd | 196 | * |
hudakz | 0:e29bc8e0dddd | 197 | * @param msg A CANMessage to read to. |
hudakz | 0:e29bc8e0dddd | 198 | * @param handle message filter handle (0 for any message) |
hudakz | 0:e29bc8e0dddd | 199 | * |
hudakz | 0:e29bc8e0dddd | 200 | * @returns |
hudakz | 0:e29bc8e0dddd | 201 | * 0 if no message arrived, |
hudakz | 0:e29bc8e0dddd | 202 | * 1 if message arrived |
hudakz | 0:e29bc8e0dddd | 203 | */ |
hudakz | 0:e29bc8e0dddd | 204 | int read(CANMessage &msg, int handle = 0); |
hudakz | 0:e29bc8e0dddd | 205 | |
hudakz | 0:e29bc8e0dddd | 206 | /** Reset CAN interface. |
hudakz | 0:e29bc8e0dddd | 207 | * |
hudakz | 0:e29bc8e0dddd | 208 | * To use after error overflow. |
hudakz | 0:e29bc8e0dddd | 209 | */ |
hudakz | 0:e29bc8e0dddd | 210 | void reset(); |
hudakz | 0:e29bc8e0dddd | 211 | |
hudakz | 0:e29bc8e0dddd | 212 | /** Puts or removes the CAN interface into silent monitoring mode |
hudakz | 0:e29bc8e0dddd | 213 | * |
hudakz | 0:e29bc8e0dddd | 214 | * @param silent boolean indicating whether to go into silent mode or not |
hudakz | 0:e29bc8e0dddd | 215 | */ |
hudakz | 0:e29bc8e0dddd | 216 | void monitor(bool silent); |
hudakz | 0:e29bc8e0dddd | 217 | |
hudakz | 0:e29bc8e0dddd | 218 | enum Mode { |
hudakz | 0:e29bc8e0dddd | 219 | Reset = 0, |
hudakz | 0:e29bc8e0dddd | 220 | Normal, |
hudakz | 0:e29bc8e0dddd | 221 | Silent, |
hudakz | 0:e29bc8e0dddd | 222 | LocalTest, |
hudakz | 0:e29bc8e0dddd | 223 | GlobalTest, |
hudakz | 0:e29bc8e0dddd | 224 | SilentTest |
hudakz | 0:e29bc8e0dddd | 225 | }; |
hudakz | 0:e29bc8e0dddd | 226 | |
hudakz | 0:e29bc8e0dddd | 227 | /** Change CAN operation to the specified mode |
hudakz | 0:e29bc8e0dddd | 228 | * |
hudakz | 0:e29bc8e0dddd | 229 | * @param mode The new operation mode (CAN::Normal, CAN::Silent, CAN::LocalTest, CAN::GlobalTest, CAN::SilentTest) |
hudakz | 0:e29bc8e0dddd | 230 | * |
hudakz | 0:e29bc8e0dddd | 231 | * @returns |
hudakz | 0:e29bc8e0dddd | 232 | * 0 if mode change failed or unsupported, |
hudakz | 0:e29bc8e0dddd | 233 | * 1 if mode change was successful |
hudakz | 0:e29bc8e0dddd | 234 | */ |
hudakz | 0:e29bc8e0dddd | 235 | int mode(Mode mode); |
hudakz | 0:e29bc8e0dddd | 236 | |
hudakz | 0:e29bc8e0dddd | 237 | /** Filter out incomming messages |
hudakz | 0:e29bc8e0dddd | 238 | * |
hudakz | 0:e29bc8e0dddd | 239 | * @param id the id to filter on |
hudakz | 0:e29bc8e0dddd | 240 | * @param mask the mask applied to the id |
hudakz | 0:e29bc8e0dddd | 241 | * @param format format to filter on (Default CANAny) |
hudakz | 0:e29bc8e0dddd | 242 | * @param handle message filter handle (Optional) |
hudakz | 0:e29bc8e0dddd | 243 | * |
hudakz | 0:e29bc8e0dddd | 244 | * @returns |
hudakz | 0:e29bc8e0dddd | 245 | * 0 if filter change failed or unsupported, |
hudakz | 0:e29bc8e0dddd | 246 | * new filter handle if successful |
hudakz | 0:e29bc8e0dddd | 247 | */ |
hudakz | 0:e29bc8e0dddd | 248 | int filter(unsigned int id, unsigned int mask, CANFormat format = CANAny, int handle = 0); |
hudakz | 0:e29bc8e0dddd | 249 | |
hudakz | 0:e29bc8e0dddd | 250 | /** Returns number of read errors to detect read overflow errors. |
hudakz | 0:e29bc8e0dddd | 251 | */ |
hudakz | 0:e29bc8e0dddd | 252 | unsigned char rderror(); |
hudakz | 0:e29bc8e0dddd | 253 | |
hudakz | 0:e29bc8e0dddd | 254 | /** Returns number of write errors to detect write overflow errors. |
hudakz | 0:e29bc8e0dddd | 255 | */ |
hudakz | 0:e29bc8e0dddd | 256 | unsigned char tderror(); |
hudakz | 0:e29bc8e0dddd | 257 | |
hudakz | 0:e29bc8e0dddd | 258 | enum IrqType { |
hudakz | 0:e29bc8e0dddd | 259 | RxIrq = 0, |
hudakz | 0:e29bc8e0dddd | 260 | TxIrq, |
hudakz | 0:e29bc8e0dddd | 261 | EwIrq, |
hudakz | 0:e29bc8e0dddd | 262 | DoIrq, |
hudakz | 0:e29bc8e0dddd | 263 | WuIrq, |
hudakz | 0:e29bc8e0dddd | 264 | EpIrq, |
hudakz | 0:e29bc8e0dddd | 265 | AlIrq, |
hudakz | 0:e29bc8e0dddd | 266 | BeIrq, |
hudakz | 0:e29bc8e0dddd | 267 | IdIrq |
hudakz | 0:e29bc8e0dddd | 268 | }; |
hudakz | 0:e29bc8e0dddd | 269 | |
hudakz | 0:e29bc8e0dddd | 270 | /** Attach a function to call whenever a CAN frame received interrupt is |
hudakz | 0:e29bc8e0dddd | 271 | * generated. |
hudakz | 0:e29bc8e0dddd | 272 | * |
hudakz | 0:e29bc8e0dddd | 273 | * @param fptr A pointer to a void function, or 0 to set as none |
hudakz | 0:e29bc8e0dddd | 274 | * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, CAN::TxIrq for transmitted or aborted, CAN::EwIrq for error warning, CAN::DoIrq for data overrun, CAN::WuIrq for wake-up, CAN::EpIrq for error passive, CAN::AlIrq for arbitration lost, CAN::BeIrq for bus error) |
hudakz | 0:e29bc8e0dddd | 275 | */ |
hudakz | 0:e29bc8e0dddd | 276 | void attach(void (*fptr)(void), IrqType type=RxIrq); |
hudakz | 0:e29bc8e0dddd | 277 | |
hudakz | 0:e29bc8e0dddd | 278 | /** Attach a member function to call whenever a CAN frame received interrupt |
hudakz | 0:e29bc8e0dddd | 279 | * is generated. |
hudakz | 0:e29bc8e0dddd | 280 | * |
hudakz | 0:e29bc8e0dddd | 281 | * @param tptr pointer to the object to call the member function on |
hudakz | 0:e29bc8e0dddd | 282 | * @param mptr pointer to the member function to be called |
hudakz | 0:e29bc8e0dddd | 283 | * @param event Which CAN interrupt to attach the member function to (CAN::RxIrq for message received, TxIrq for transmitted or aborted, EwIrq for error warning, DoIrq for data overrun, WuIrq for wake-up, EpIrq for error passive, AlIrq for arbitration lost, BeIrq for bus error) |
hudakz | 0:e29bc8e0dddd | 284 | */ |
hudakz | 0:e29bc8e0dddd | 285 | template<typename T> |
hudakz | 0:e29bc8e0dddd | 286 | void attach(T* tptr, void (T::*mptr)(void), IrqType type=RxIrq) { |
hudakz | 0:e29bc8e0dddd | 287 | if((mptr != NULL) && (tptr != NULL)) { |
hudakz | 0:e29bc8e0dddd | 288 | _irq[type].attach(tptr, mptr); |
hudakz | 0:e29bc8e0dddd | 289 | // can_irq_set(&_can, (CanIrqType)type, 1); |
hudakz | 0:e29bc8e0dddd | 290 | } |
hudakz | 0:e29bc8e0dddd | 291 | // else { |
hudakz | 0:e29bc8e0dddd | 292 | // can_irq_set(&_can, (CanIrqType)type, 0); |
hudakz | 0:e29bc8e0dddd | 293 | // } |
hudakz | 0:e29bc8e0dddd | 294 | } |
hudakz | 0:e29bc8e0dddd | 295 | |
hudakz | 0:e29bc8e0dddd | 296 | static void _irq_handler(uint32_t id, CanIrqType type); |
hudakz | 0:e29bc8e0dddd | 297 | |
hudakz | 0:e29bc8e0dddd | 298 | protected: |
hudakz | 0:e29bc8e0dddd | 299 | can_t _can; |
hudakz | 0:e29bc8e0dddd | 300 | FunctionPointer _irq[9]; |
hudakz | 0:e29bc8e0dddd | 301 | }; |
hudakz | 0:e29bc8e0dddd | 302 | |
hudakz | 0:e29bc8e0dddd | 303 | } // namespace mbed |
hudakz | 0:e29bc8e0dddd | 304 | |
hudakz | 0:e29bc8e0dddd | 305 | #endif |
hudakz | 0:e29bc8e0dddd | 306 | |
hudakz | 0:e29bc8e0dddd | 307 | #endif // MBED_CAN_H |
hudakz | 0:e29bc8e0dddd | 308 | |
hudakz | 0:e29bc8e0dddd | 309 |